Vehicle action determining method and vehicle action determining device

#The present disclosure relates to a method and apparatus for determining a driving action of a host vehicle.

#As a control for determining a driving action of a host vehicle, JP2015-170233A discloses a control when the host vehicle crosses an oncoming lane and turns at a cross-point. Specifically, an intersection between a travel route of the host vehicle and a travel route of another vehicle traveling in the oncoming lane is extracted, it is estimated whether or not the host vehicle and the other vehicle collide with each other at the intersection. When it is determined that the host vehicle does not collide with the other vehicle, let the host vehicle enter the cross-point, and when it is determined that the host vehicle does not collide with the other vehicle, let the host vehicle stop before the cross-point.

#However, when it is determined that a host vehicle is traveling or stopped at an intersection of two travel routes as described in the above document, once it is determined that the host vehicle can enter a cross-point, for example, a content determined for the intersection is taken over before and after the intersection, and different determinations are not made before and after the intersection. Therefore, in a scene in which the host vehicle enters a road on which another vehicle preferentially travels, in a situation where a situation change occurs such as a case where a vehicle speed of the other vehicle changes, for example, in a case where the situation changes to a situation where the host vehicle is desired to stop before the intersection, there are cases in which an action cannot be flexibly determined, the host vehicle enters the intersection, and the host vehicle stops at a position distant from the intersection. That is, it is difficult to flexibly determine an action suitable for a travel situation by merely determining whether the host vehicle can enter or stop at a position of the intersection between the travel route of the host vehicle and the travel route of the other vehicle traveling in an oncoming lane.

#FIG. 1 is a schematic configuration diagram of a travel support system;

#FIG. 2 is a diagram illustrating control of a comparative example in a situation where a host vehicle crosses an oncoming lane and passes through a cross-point;

#FIG. 3 is a diagram illustrating control according to an embodiment of the present disclosure in a situation where a host vehicle crosses an oncoming lane and passes through a cross-point;

#Hereinafter, embodiments according to the present disclosure will be described with reference to drawings. In the embodiments, a case where an apparatus for determining a vehicle action according to the present disclosure is applied to a travel support system 100 mounted on a vehicle will be described.

#FIG. 1 is a configuration diagram of the travel support system 100. The travel support system 100 includes at least a travel support device 1 as a controller, sensors 2, a navigation device map 3, and a vehicle behavior control unit 13.

#The sensors 2 detect information on a surrounding environment of the host vehicle. The surrounding environment includes other vehicles, pedestrians, facilities around roads, and the like. The sensors 2 include cameras, radars, a light detection and ranging (LIDAR), and the like mounted on a vehicle. The cameras capture images of surroundings of the host vehicle and output the captured images as image data. A plurality of cameras is mounted in order to capture images of the front side, the side, and the rear side of the host vehicle. The radars output, as radar information, reflected waves with respect to electromagnetic waves emitted toward the surroundings of the host vehicle. A plurality of radars is mounted in the same manner as the cameras. The LIDAR estimates a three-dimensional position of a reflection point based on the reflected waves of the lasers emitted from the host vehicle in all directions, and outputs the estimated three-dimensional position as three-dimensional position information. In addition, as the cameras, the radars, and the LIDAR, known ones can be used.